Chapter 1

Introduction

1.1 Introduction to firefighting robot

Robot is a machine that looks like a human being and performs

various complex tasks. There are many types of robots such as
fixed base robot, mobile robot, underwater robot, humanoid robot,
space robot and medicine robot etc.

In this project a FIRE FIGHTING ROBOT is proposed. This robot is

equipped with a single flame sensor used to sense environmental
fire and feed the signals to the microcontroller to trigger the pump
which sprinkles water to extinguish the fire. This robot is controlled
using a mobile phone through Bluetooth chip. This robot
implements the concepts of environmental fire sensing,
proportional motor control. The motor driver is used for the
bidirectional control of the motors equipped in the robot. Every
instruction for motion control is given to the robot with the help of
our mobile phone.

Thus, the robot processes information from its various key

hardware elements such as flame sensor. The programming of the
robot is done using the Arduino C which is derived from C and C++
languages. Fig.1 shows the Block Diagram of Fire Fighting robot.
The basic theme of this paper is to sense the environmental fire
and extinguish it with the help of a water pump.

The Arduino UNO Microcontroller board based on the ATmega328.

The ATmega328 is good platform for robotics application. Thus,
the real time fire extinguishing can be performed. The Arduino
software runs on different platforms such as mac, windows, and
Linux.

Simple and clear programming is possible in case of Arduino

software. The Arduino libraries play a major role in making the
programming easier by providing wider range of libraries. There
 are many built in libraries available in the Arduino software and it
allows to add additional libraries that are available in the open
source for download. Adding of new boards to Arduino software is
possible. Since, Arduino C is derived from C and C++
programming and is much easier when compared other controller
programming.

The microcontroller in turn controls the extinguishing system. The

Operating Voltage of the controller is 5V and the Clock Speed is 16 MHz,
and the recommended Input Voltage 7-12V, whereas the limitation of
Input Voltage between 6-20V.

1.2 Objective of the Project

The main aim of this project is to develop a firefighting robot which
detects the fire and extinguish fire by using sprinklers on triggering the
pump. The direction of movement of the robot are described by the
motor driver board. It is used to give high voltage and high current is
given as an output to run the motors which are used in the project for the
movement of the robot.
In this project a simple DC motor is used for the rotation of the wheel
which are responsible for the movement of the robot. DC motors usually
convert electrical energy into mechanical energy. To extinguish the fire a
pump is used to pump the water on to the flame. A simple motor is used
to pump the water. The pumping motor in extinguishing system controls
the flow of water coming out of pumping. The project that is being
presented is focused on a firefighting robot. Robots can perform tasks in
a more efficient, cost-effective, and accurate manner than humans.
It has grown in popularity as technology has advanced, making human
work simpler. The firefighting robot is programmed to scan for and
extinguish fires in affected areas. The consequences of fire cannot be
prevented, and they can occur in both young, newly formed forests and
mature natural forests.
Fire has a focused impact on plant growth because it destroys
undesirable vegetation, allowing other species to emerge. A wireless
robot can conduct successful work, allowing the robot to be operated
from a distance. The act of sprinkling water on a fire is known as
firefighting. The robotic vehicle is equipped with water tanks and a pump
that is operated by wireless communication.
As a result of a fire outbreak (or) fire explosion, we are demanding that
we use human resources that are not secure to put out the fire. It is very
much possible to replace human work in putting out a fire in a dangerous
environment by using higher technology, specifically robotics This
strategy would free firefighters from dangerous tasks, increase their
efficiency, and reduce the number of fires.
Moreover, it will discourage human lives from being jeopardized. Forth
is, we'll create an Arduino based firefighting robot that will detect the fire
and it will begin to pump water on the fire detected area using sprinkler.

1.3 motivation
Fire-fighting is an important but dangerous occupation. A fire-fighter must
be able to get to a fire quickly and safely extinguish the fire, preventing
further damage and reduce fatalities. Technology has finally bridged the
gap between firefighting and machines allowing for a more efficient and
effective method of firefighting.

Robots designed to find a fire, before it rages out of control, could one
day work with fire fighters greatly reducing the risk of injury to victims.
Our world is currently facing the global warming whereby the average
temperature of our earth atmosphere and oceans is increasing year by
year. Studies shows that our earth mean surface temperature has
increased about 0.8C which about two-third of increase occurring since
1980.The global warming of the earth may lead to more forest fire and
fire disaster occur as everything gets more flammable due to the high
temperature of our earth atmosphere.

Therefore, fire extinguishing robot is needed to reduce all the damage

cause by natural or human made fire disaster. The project aims at
designing an intelligent live video feedback fire extinguishing robotic
vehicle which can be controlled wirelessly.

1.4 problem formulation

Fire disaster is one of the dangerous problems that can lead to heavy
loss both financially and by taking lives. Sometimes it becomes difficult
for fighters to access the site of a fire because of explosive materials,
smoke, and high temperatures. Such situations risk the lives of fire
fighters too. In such environments, fire-fighting robots can be useful.
This Fire Extinguishing Robot is based on IOT Technology. In Fire
Extinguishing Robot, we intend to build a system that could extinguish a
small flame by sensing and moving to the location itself. Sometime delay
in the arrival of fire fighters leads to numerous consequences. The Fire
Extinguishing robot continuously monitors the environment and
extinguishes it without delay.

1.5 Organization of the report

The report is divided into 6 chapters. Chapter 1 contains the motivation
and objective of the project. The Chapter 2 contains the details of the
literature survey done for this project. Chapter 3 contains the
block. Chapter 4 contains hardware description and technical details of
individual blocks. Chapter 5 describes the software tool used and the
flow chart of the system. Chapter 6 contains the result of the project.
 Chapter 2
Literature Review
2.1 Related work

This chapter provides details about the existing technologies like Smart
Firefighting robot.Stuti, Pratiksha, Triveni carried out a work on
Autonomous Robot for Fire Extinguishing. the direction where the fire is
detected by the sensor, but the robot takes longer time in processing
and scanning the environment for presence of fire, their incapability to
extinguish vulnerable affected areas first may lead the fire to spread
wildly leading to loss of life and property causing mass destruction.

The robot is operated in a restricted area and exhibits constraint in their

application in real time. Totally depending on upon the readings of the
sensors in a fire hazard an environment may prove to be inappropriate
as faulty reading of sensors due to disruptive condition of the
surroundings may cause the robot to be totally ineffective.

Stuti Orpe, Pratiksha Shinde proposed a firefighting robot model which

consists of a base platform made up of ‘wooden bord’, flame sensors to
detect the fire and a water container of 1 litre capacity which is made up
of a strong cardboard that makes it water resistant. The robot has two
wheels for its movement. Triveni Shelke proposed a model which uses
Atmega2560 micro-controller and in which the robot is divided into three
basic units according to their functions which are as locomotive unit, fire
detecting unit and extinguishing unit.
Each unit performs their task to achieve the desired output of
extinguishing fire. The fire detecting unit is used to detect fire using IR
sensor. The extinguishing unit is used to extinguish the fire using water
container and BLDC motor. The robot also has a Bluetooth module that
relates to the smartphones to navigate it in the proper direction.
Pratiksha proposed an android controlled firefighting robot which uses
Arduino UNO R3.
The robot consists of a Bluetooth module to connect the robot with the
android device and to control the robot with the smartphone as well.
Water pump and sprinkler is also used in this. To instruct the Arduino
UNO an open-source software which is Arduino IDE is required to code
and to implement that code in Arduino UNO. A flame sensor for fire
detection that is capable of sensing flame of the wavelength range 760
to 1100 nm and sensitivity varies from 10cm to 1.5feet.
Stuti proposed an Arduino based fire fighter robot which consists of RF
based remote operation to operate the robot and water pump. This robot
consists of three flame sensors for fire detection in left, right and centre
direction.

2.2 Methodology
The planned bot identifies fire by three fire sensors, furthermore,
conveys messages to the microcontroller Arduino UNO that has been
customized with C++ programming associated with it.
It is associated with a 12V battery. Arduino consequently sends motion
toward the DC gear engine which is in touch with the wheels of the robot
undercarriage. One DC gear engine is associated with the left haggle
other with the right one.
This model is intended to foster a Fire Battling Robot utilizing IR fire
sensor innovation for far-off areas. It contains a water tank and a siphon
to toss water which is controlled over remote correspondence. It has
been modified by Arduino UNO. This robot body moves with the result
sign of the microcontroller. This model fundamentally works under the
oversight of Arduino Uno. A model is modified in C programming. It can
peruse both simple and computerized signals.
It gives its result by turning the Drove fire sensor on/off and then, at that
point, enacts the stuff engine associated with the wheel of the robot
undercarriage. This Arduino projects program is an IDE-based handling
language. Then again the fire sensor identifies the IR (Infrared
emanation) emerging from the fire. Fire sensors can sense through IR
outflow of frequency range from 760-1100 nm.
It has the responsiveness shifts from 1cm-1.5 feet. This profits a sign to
the microcontroller that sends a yield sign to equip the engine that
moves the robot frame toward the terminating region. All fire sensors
have been utilized (forward, rightward, and leftward) to identify fire in the
unmistakable heading.
A Bluetooth module with the help of an Android application developed
using MIT App Inventor is used for the manual control of the Bot. A DC
Motor inserted inside the water container at the Bot will extinguish the
fire using water that is pumped out from the container. The flame sensor
will send a signal to the Arduino and the Arduino will command the DC
motor.

2.3 Design Structure

In this section, the prototype of robotic system is presented, in which it
consists of IR flame sensors, servo motors, submersible water pump,
motor driver, motors, rubber wheels, processor, and communication
module for exchanging data between the fire-fighting robot and Arduino
software.

The basic prototype of our firefighting robot. The robot carries four main
functions: First, it initializes itself i.e. its sensors get initializes as the
power is supplied. Second, robot sense the surrounding environment (for
instance for the level of temperature) and identify the fireplace. Third,
robot sends the navigating information and starts to navigate itself
towards the fireplace. Fourth, finally the robot starts to extinguish the fire
with the help of servo motors and submersible water pump
2.4 Block diagram
Block diagram of the Smart firefighting robot is as shown in Figure. The
system consists of ATEMAGA 328 controller, Flame sensor, Bluetooth
device, DC battery(12V), Geared DC motor and Motor driver.

 Power supply

A battery rated 12V, 2A is used to provide power to the Arduino board.

The regulator IC's present in the board provide ripple free regulated 5V,
12V output to motors, fire sensor module, microcontroller.

 Arduino controller
 Arduino controller is the heart of the system. It interfaces with Flame
sensor, Geared DC motors, ULN2803 IC, HC-05 Bluetooth module and
motor drivers. It controls all the operation of the robot movement based
on the serial command received.

 IR Flame Sensor

The IR Flame Sensor. The IR flame sensor senses the environment and
detects the presence of fire or flame. The module is based on the IR
receiver and basically detects the presence of flammable and harmful
gases likes nitrogen, hydrogen, carbon mono oxide. The signal detection
capacity is adjustable. The robot contains one flame sensor.

 Servo Motors
Servo Motors are electronic devices that are mainly used for providing
specific velocity and acceleration.

 Water Pump
Water Pump is ideal for making automatic watering system using
Arduino. The water pump is an important part of the robot as it will pump
water to extinguish the fire.

 Relay
A relay is a switch that is powered by electricity as shown in Fig. A
magnetic field is generated by the coil of the relay which the current
flows through, which attracts a lever and changes the switch contacts.
There are two switch places on their lay, both of which are double-throw
switches. There is no electrical connection between the two circuits
within the relay. Only magnetic and mechanical connections exist.
Relays are incredibly basic instruments.

 Bluetooth
The Bluetooth module for the Arduino receives the data and transmits it
to the Arduino through the TX pin of the Bluetooth module at the other
end connected to the RX pin of the Arduino.
 Chapter 3
System Description

3.1 Hardware and Software Used

 According to National Crime Records Bureau (NCRB), it is estimated that
more than 1.2 lakh deaths have been caused because of fire accidents in
India from 2010-2014. Even though there are a lot of precautions taken
for Fire accidents, these natural/man-made disasters do occur now and
then. In the event of a fire breakout, to rescue people and to put out the
fire we are forced to use human resources which are not safe. With the
advancement of technology especially in Robotics it is very much possible
to replace humans with robots for fighting the fire. This would improve the
efficiency of firefighters and would also prevent them from risking human
lives. Today we are going to build a Fire Fighting Robot using Arduino,
which will automatically sense the fire and start the water pump.

3.2 Hardware For building up this system, the following

hardware components are used: -

Sr.no Hardware Specifications

1 Arduino uno  Digital I/O Pins-14 (Out of which 6

provide PWM output)
 DC Current on I/O Pins-40mA
 DC Current on 3.3V Pin-50mA
 Flash Memory-32 KB (0.5 KB is used for
Bootloader)
2 Flame sensor  Operating Voltage (VDC) - 3.3 ~ 5
 Spectrum range-760nm ~ 1100nm
 Detection Angle ()-0 to 60
 Operating Temperature (C)- -25 to 85
3 Motor Driver  Dimensions-20 x 7.1 x 5.1mm
 Length-20mm
 Maximum Operating Temperature-+150
°C
 Minimum Operating Temperature--40
°C
4 DC Motor  25gm. Weight.
 Same size motor available in various
rpm.
 2kgcm torque
 100 rpm motor

 No load current=60ma (Max), load

current=300mA (Max)

5 Jumper Wires  Male and female

6 Water pump  Sprinkle water from 15to20cm
7 Power supply  12 v

1) Arduino uno
Arduino UNO is an open-source electronics platform that can able to get
the information from the sensor and control the hardware. These Arduino
give a set of instructions to the microcontroller on the board. With those
just getting into electronics, the Arduino platform has grown rather
popular, and for good reason. The Arduino does not require a separate
piece of hardware (referred to as a programmer) to load fresh code onto
the board; instead, you can do so by using a USB cable, in contrast to
the majority of earlier programmable circuit boards.
The Arduino Uno is a microcontroller board based on the ATmega328
IC is the heart ofthe proposed system. It interfaces with Flame sensor,
Geared DC motors, ULN2803 IC, HC-05Bluetooth module and motor
drivers. It controls all the operation of the robot movement basedon the
serial command received. It has 14 digital input/output pins out of which
6 can be used asPWM outputs, 6 analog inputs, a 16 MHz
ceramic resonator, a USB connection, a power jack, anICSP header,
and a reset button.

 Features of Arduino uno controller

 It is an 8-bit AVR RISC based microcontroller.

 Operating voltage is 5V.
 Input voltage is in the range of 7-12V
 It has 14 digital input/output pins.
 It has 6 analog input pins.
 DC current per I/O pins is 40mA.
 DC current for 3.3V pins is 50mA.
 It has a flash memory of 32 KB of which 0.5 KB is used by the
bootloader.
 It as SRAM of 2 KB, EEPROM of 1 KB.
 It has a crystal oscillator with clock speed of 16 MHZ
2)Flame sensor

This module is sensitive to the flame and radiation. It can also

detectordinary light source in the range of a wavelength 760nm-1100
nm. Thedetection distance is up to 20 cm. The flame sensor is used to
detect the presence of fire or otherinfrared source. The Flame sensor
can output digital or analog signal. It can be used as aflame alarm or in
firefighting robots. A flame detector is a sensor created to recognize the
presence of a flame or fire and act accordingly, enabling flame detection.
Depending on the installation, possible responses to flame detection
include sounding an alarm, turning off a fuel line, and turning on a fire
suppression system.
Using a tiny voltage signal from a microcontroller or control system.

 Description
 Detects a flame or a light source
 of a wavelength in the range of 760nm-1100 nm.
 Detection distance: 20cm (4.8V) ~ 100cm (1V)
 Detection angle about 60 degrees, it is sensitive to the flame
spectrum.
 Comparator chip LM393 makes module readings stable.
 Adjustable detection range.
 Operating voltage 3.3V-5V.
 Digital DO digital switch outputs (0 and 1)
 Power indicator and digital switch output indicator

 Pin description.
 1) VCC -- 3.3V-5V voltage.
 2) GND -Ground reference.
 3) DO -- board digital output interface (0 and 1)

3.Motor Driver

We employ motor drivers to supply the motor with high power. If the
motor driver receives a HIGH input from the CPU, the driver will rotate
the motor in one direction while maintaining a HIGH and LOW signal on
one pin. DC motor is a device that converts electrical energy to
mechanical energy. In essence, a relay makes it simple for a relatively
low voltage to readily regulate stronger circuits.

The L298 is an integrated monolithic circuit in a 15-lead Multiwatt and

PowerSO20 packages. It is a high voltage, high current dual full-bridge
driver designed to accept standard TTL logic levels and drive inductive
loads such as relays, solenoids, DC and stepping motors. Two enable
inputs are provided to enable or disable the device independently of the
input signals. The emitters of the lower transistors of each bridge are
connected together and the corresponding external terminal can be used
for the connection of an external sensing resistor. An additional supply
input is provided so that the logic works at a lower voltage.

Circuit Diagram

 ULN2803 IC
 ULN2803 is a High voltage, high current Transistor Array IC used
especially with Microcontrollers where we need to drive high power
loads. This IC consists of a eight NPND Arlington connected transistors
with common Clamp diodes for switching the loads connected to the
output. This IC is widely used to drive high loads such Lamps, relays,
motors etc. It isusually rated at 50v/500mA.

 Purpose of ULN2803
Most of the Chips operates with low level signals such as TTL, CMOS,
PMOS,and NMOS which operates at the range of (05) v and are incapab
le to drive high power inductiveloads. However this chip takes low level
input signals (TTL) and uses that to switch/turn off thehigher voltage
loads that are connected to the output side.

 Working of ULN2803 IC
The ULN2803 IC consists of eight NPN Darlington pair which provides
the propercurrent amplification required by the loads. The transistors are
used to amplify the current buthere Darlington transistor pairs are used
inside the IC to make the required amplification.A Darlington pair is two
transistors that act as a single transistor providing high currentgain. In
this pair the current amplified by the first transistor is further amplified by
the nexttransistor providing high current to the output terminal.When no
base voltage is applied that is when no signal is given to the input pins of
theIC, there will be no base current and transistor remains in off state.
When high logic is fed to theinput both the transistors begin to conduct
providing a path to ground for the external load that the output is
connected. Thus when an input is applied corresponding output pin
drops down tozero thereby enabling the load connected to complete its
path.

4)Geared DC Motor
A DC motor is an electrical motor that uses direct current (DC) to
produce mechanical force. The most common types rely on magnetic
forces produced by currents in the coils. Nearly all types of DC motors
have some internal mechanism, either electromechanical or electronic,
to periodically change the direction of current in part of the motor.
DC motors were the first form of motors widely used, as they could be
powered from existing direct-current lighting power distribution systems.
A DC motor's speed can be controlled over a wide range, using either a
variable supply voltage or by changing the strength of current in its field
windings. Small DC motors are used in tools, toys, and appliances.
The universal motor, a lightweight brushed motor used for portable
power tools and appliances can operate on direct current and alternating
current. Larger DC motors are currently used in propulsion of electric
vehicles, elevator and hoists, and in drives for steel rolling mills. The
advent of power electronics has made replacement of DC motors
with AC motors possible in many applications.

 DC MOTOR
 Frame sizes from 8 to 35 mm.
 Speeds from 5,000 to 14,000 rpm.
 Continuous motor torque - 0.36 to 160 mNm.
 Coreless rotor design.
 Low rotor inertia.
 REE coil.
 High power to weight ratio.
 Neodymium magnet available in some brush DC motor models.

5) Bluetooth

The Bluetooth module for the Arduino receives the data and transmits it
to the Arduino through the TX pin of the Bluetooth module at the other
end connected to the RX pin of the Arduino.
 It is used for many applications like wireless headset, game
controllers, wireless mouse, wireless keyboard, and many more
consumer applications.
 It has range up to <100m which depends upon transmitter and
receiver, atmosphere, geographic & urban conditions.
 It is IEEE 802.15.1 standardized protocol, through which one can build
wireless Personal Area Network (PAN). It uses frequency-hopping
spread spectrum (FHSS) radio technology to send data over air.
 It uses serial communication to communicate with devices. It
communicates with microcontroller using serial port (USART).
 Bluetooth serial modules allow all serial enabled devices to
communicate with each other using Bluetooth.
 It has 6 pins,
1. Key/EN: It is used to bring Bluetooth module in AT commands mode.
If Key/EN pin is set to high, then this module will work in command
mode. Otherwise by default it is in data mode. The default baud rate of
HC-05 in command mode is 38400bps and 9600 in data mode.

HC-05 module has two modes,

1. Data mode: Exchange of data between devices.
2. Command mode: It uses AT commands which are used to change
setting of HC-05. To send these commands to module serial (USART)
port is used.
2. VCC: Connect 5 V or 3.3 V to this Pin.
3. GND: Ground Pin of module.
4. TXD: Transmit Serial data (wirelessly received data by Bluetooth
module transmitted out serially on TXD pin)
5. RXD: Receive data serially (received data will be transmitted
wirelessly by Bluetooth module).
6. State: It tells whether module is connected or not.
 HC-05 has red LED which indicates connection status, whether the
Bluetooth is connected or not. Before connecting to HC-05 module
this red LED blinks continuously in a periodic manner. When it gets
connected to any other Bluetooth device, its blinking slows down to
two seconds.
 This module works on 3.3V. We can connect 5V supply voltage as
well since the module has on board 5 to 3.3 V regulator.
 As HC-05 Bluetooth module has 3.3V level for RX/TX and
microcontroller can detect 3.3 V level, so, no need to shift transmit
 level of HC-05 module. But we need to shift the transmit voltage level
from microcontroller to RX of HC-05 module.
 The data transfer rate of HC-05 module can vary up to 1Mbps is in
the range of 10 meters.

6)DC Pump

A DC water pump is an electric pump with low voltage. They are calm
and utilize little power. They are utilized for some applications, including
car, family, and water wells. Different DC water pumps are accessible on
the lookout, including the DC Wellspring pump VP30, a five-volt smaller
than normal water pump ideal for a sun-oriented wellspring.
DC pump, also called direct current pumps, are highly adaptable devices
widely used in different industries. DC pumps, unlike AC pumps, function
using direct current (DC) power, which sets them apart. This unique
characteristic enables DC pumps to be adaptable for both on-grid and
off-grid applications. With efficient fluid transfer capabilities, DC pumps
handle a wide range of fluids, such as water, chemicals, and other
liquids, with precise control. Their versatility ensures their importance in
various sectors where accurate and controlled fluid movement is crucial.
Whether it’s irrigating crops, treating water, or handling chemicals, DC
pumps excel in delivering reliable and precise fluid transfer, catering to
the needs of different industries with efficiency and adaptability.
One of the key advantages of DC pumps is their energy efficiency. They
consume less power compared to AC pumps, resulting in lower energy
costs and reduced environmental impact. People commonly employ DC
pumps in solar-powered systems, allowing them to harness energy from
renewable sources and function autonomously, detached from the
electrical grid. This makes them ideal for remote locations, agriculture,
and irrigation systems.
 12v DC Water Pump Specifications
There are several key specifications to consider when selecting a DC
pump:
1. Head pressure: This is the maximum height that the pump can lift
the fluid, measured in feet (ft) or meters (m). The head pressure
will determine the maximum vertical distance that the pump can
move the fluid.
2. Voltage: Direct current (DC) electricity powers DC water pumps,
and it is essential to ensure that the voltage of the pump matches
the voltage of the power source.
3. Flow rate: This is the amount of fluid that the pump can move per
unit of time, typically measured in liters per minute (L/min) or
gallons per minute (GPM). The flow rate must adequately meet the
requirements of the system in which the pump will operate.
4. Current: This is the amount of electric current that the pump
consumes, typically measured in amperes (A). The current draw of
the pump will depend on the size of the motor and the flow rate of
the pump.
5. Motor power: This is the power output of the motor, typically
measured in watts (W). The motor power will determine the flow
rate and head pressure of the pump.
6. Material: It is crucial to construct the pump housing and impeller
using a material compatible with the fluid being pumped. Common
materials include stainless steel, plastic, and brass.
7. Size: The size of the pump should be suitable for the application
and the available space.
8. Operating temperature: The pump should be able to operate within
a temperature range that is suitable for the application.
7) Relay

A relay is a switch that is powered by electricity as shown in Fig. A

magnetic field is generated by the coil of the relay which the current
flows through, which attracts a lever and changes the switch contacts.
There are two switch places on their lay, both of which are double-throw
switches. There is no electrical connection between the two circuits
within the relay. Only magnetic and mechanical connections exist.
Relays are incredibly basic instruments.
relay is an electrically operated or electromechanical switch composed
of an electromagnet, an armature, a spring, and a set of electrical
contacts. The electromagnetic switch is operated by a small electric
current that turns a larger current on or off by either releasing or
retracting the armature contact, thereby cutting or completing the circuit.
Relays are necessary when there must be electrical isolation between
controlled and control circuits, or when multiple circuits need to be
controlled by a single signal.
 Specifications

 Normal voltage: 5V DC
 Normal current: 70mA
 Maximum load current: 10A/250V AC, 10A/30V DC
 Maximum switch voltage: 250V AC, 30V DC
 Operate time: ≤ 10ms

8) 12v supply

12V power supplies (or 12VDC power supplies) are one of the most
common power supplies in use today. In general, a 12VDC output is
obtained from a 120VAC or 240VAC input using a combination of
transformers, diodes and transistors. 12V power supplies can be of two
types: 12V regulated power supplies, and 12V unregulated power
supplies.12V regulated power supplies come in three styles: Switching
regulated AC to DC, Linear regulated AC to DC, and Switching regulated
DC to DC.
Switching regulated 12VDC power supplies, sometimes referred to as
SMPS power supplies, switchers, or switched mode power supplies,
regulate the 12VDC output voltage using a complex high frequency
switching technique that employs pulse width modulation and feedback.
Acopian switching regulated power supplies also employ extensive EMI
filtering and shielding to attenuate both common and differential mode
noise conducted to the line and load.
 Specifications
1. 3-Pin adapter with GND terminal and more convenient to plug.
2. It comes with a 1 meter long 22 AWG cable
3. Wide input AC voltage range (100VAC-240VAC).
4. Very low ripple & noise output for device safety.
5. High operating ambient temperature up to 80°C.
6. Highly efficient, compact, durable, and long life.
7. RoHS compliance Approved.
8. Protections against- under-over voltage/ overload/ short circuit with
auto-restart on fault removal.
9) Laptop

In this 21st century, advancement in technology has brought up

different versions of computers and thus a portable Laptop. A
personal computer or a laptop is one of the essential devices for
almost each need to be met. Similarly, it has been essentially used
in displaying the Raspberry Pi OS, to carrying out different
functionalities and to display necessary the outputs.

3.3 software used.

Sr.n Hardware Specification

o
1 Arduino IDE Version 1.0.6 with Arbotix
Master installed
2 Bluetooth chip Serial Bluetooth terminal
 connectivity app is used
3 C language C/C++

1. Arduino IDE

Arduino IDE is an integrated development environment (IDE)

specifically designed for programming Arduino microcontroller
boards. It provides a simple interface for writing, compiling, and
uploading code to Arduino boards. The IDE is based on the
Processing programming language and the Wiring framework. It
supports the C and C++ programming languages. Arduino IDE
includes a built-in text editor, compiler, and uploader for Arduino
boards. It offers a range of libraries and examples to help users get
started with their projects. Arduino IDE is crossplatform and runs
on Windows, macOS, and Linux.

2. serial Bluetooth terminal app

serial Bluetooth Terminal' is a line-oriented terminal / console app

for microcontrollers, arduinos and other devices with a serial /
UART interface connected with a bluetooth to serial converter to
your android device.

 Steps to use the app

 Go to App --> Buttons
 Press 1: Car moves forward. (all wheel’s start moving forward)
 Press 1: Car moves in reverse. (all wheel’s start moving backward)
 Press 3: Car turns to left side. (Only right wheels move)
 Press 4: Car turns to right side. (Only left wheels move)

 HC-05 Bluetooth Terminal Application

 HC-05 Bluetooth terminal application gives compatibility with all

microcontrollers. All we need is a HC-05 serial adapter connection
with serial ports of the controllers.

 Controls any Micro-controller that uses a Bluetooth Module HC-05 or

HC-06 through the smart phone.

 This app can send and receive commands via Bluetooth. The user
can send the commands through this application to control the
various operations of the robot. The different types of commands
used to control the robot.
3.4 Actual Circuit Diagram
3.5 working

The firefighting robot is utilized to control any disaster caused by fire

instead of risking a fire fighter’s life. This project is mainly composed of
Arduino UNO, Flame sensors, Temperature sensors, Motor Driver,
Motors, Servo Motor, Water Tank, Relay Module, Water pump, Water
tank. The power supply is connected to Arduino UNO and the motor
driver. Once the fire is detected the robot will approach the fire and
extinguish it.

This firefighting robotic system is powered by Arduino Uno development

board it consists of the fire flame sensor for detecting and approaching
fire it also makes use of water tank and spray mechanism for
extinguishing the fire. Water spraying nozzle is mounted on servo motor
to cover maximum area.

Water is pumped from the main water tank to the water nozzle with the
help of water pump. It consists of 12v transformer which is used to step
down the 220v AC to 12v DC and also having rectifier which is used to
convert AC supply to the DC. Regulator is used to divide the 12v and 5v
supplies and they are given to the respective components. In the left
side consists of inputs which are Bluetooth module, flame sensor, In the
right side consists of servo motor, water pump, water outlet in between
them having motor driver connected to two DC motors.

A flame-sensor is one kind of detector which is mainly designed for

detecting as well as responding to the occurrence of a fire or flame. The
flame detection response can depend on its fitting.
Flame detection distance, lighter flame test can be triggered within
0.8m, if the intensity of flame is high, the detection distance will be
increased. The detection angle of the flame sensor module is about 60
degrees.

HC-05 module is an easy-to-use Bluetooth SPP (Serial Port Protocol)

module, designed for transparent wireless serial connection setup. Serial
port Bluetooth module is fully qualified Bluetooth V2.0+EDR (Enhanced
Data Rate) 3Mbps Modulation with complete 2.4GHz radio transceiver
and baseband. It uses CSR Blue core 04-External single chip Bluetooth
system with CMOS technology.
Servo Motors are used in applications where very high precision motion
is required like assembly robots, computer numeric controls etc. Servo
Motor can rotate approximately 180 degrees. (90 in each direction). A
servomotor is a rotary actuator or linear actuator that allows for precise
control of angular or linear position, velocity and acceleration.
It consists of a suitable motor coupled to a sensor for position feedback.
The water pump is connected to the battery. The water pump's hose is
attached to the servo motor which rotates it in the direction of the
burning fire. The pump then sprays
water filled in the tank with which it is connected to put out the fire. DC
motor converts electrical energy in the form of Direct Current into
mechanical energy in the form of rotational motion of the motor shaft The
DC motor speed can be controlled by applying varying DC voltage.
 Chapter 4
Program and Execution

 Block Diagram
 Program
 Chapter 5
Experimentation

 5.1 Actual Results

 Chapter 6
Conclusion

6.1 Advantages

 Faster Response Time: Firefighting robots are capable of responding

to emergency situations faster than human firefighters. This can be
especially beneficial in situations where human firefighters may be
delayed due to traffic, bad weather, or other factors.

 Increased Safety: Firefighting robots are able to enter dangerous

environments that may be too hazardous for human firefighters. This
is especially important when dealing with hazardous materials such
as chemicals and toxic substances.

 Enhanced Mobility: Firefighting robots are often equipped with

powerful motors and can traverse terrain that may be difficult for
humans to access. This can be very helpful in situations where the
fire is located in an area that is not easily accessible to human
firefighters.

 Improved Accuracy: Firefighting robots are typically equipped with

sophisticated sensors that can detect fire, heat, and smoke more
accurately than the human eye. This helps to ensure that the fire is
extinguished quickly and efficiently.

 Cost Savings: Firefighting robots are often cheaper to operate than

human firefighters. This can result in significant cost savings in terms
of training, equipment, and manpower.

6.2 Disadvantages
 Robot’s Mobility: Firefighting robots are typically wheeled, tracked or
a combination of both, and they rely on their mobility to move around
and reach the fire. However, if the surface is too rough or if there are
large obstacles present, the robot may not be able to move around
freely.
  Limited Reach: Firefighting robots have limited reach and may not be
able to get close enough to put out the fire.
 Limited Sensors: Firefighting robots have limited sensors and
cameras to detect the fire, making it difficult to determine the exact
location and size of the fire.

 Limited Fire Fighting Capabilities: Firefighting robots are limited in

their firefighting capabilities. They are typically limited to using water,
foam, or dry chemical extinguishers, which may not be enough to put
out large or intense fires.

 High Cost: Firefighting robots are expensive and may not be

affordable for some fire departments.

 Safety: Firefighting robots pose a safety risk to firefighters, as they

may not be able to detect hazardous conditions such as smoke or
heat.

6.3 Future Scope

 Robotic firefighting aims to reduce the risk of casualties and improve

disposal efficiency significantly. However, firefighting robots are still
far from massive applications, because of the problematic rem ote
control in complex fire incidents and their limited autonomy and small
working range.
 Looking ahead, the potential contributions of the Guoxing Intelligent
Firefighting Robot are even more significant. As the technology a
dvances, we can expect these robots to become even more auton
omous, able to make split-second decisions based on complex alg
orithms and real-time data analysis.
6.4 conclusion

This model of Fire Extinguishing Robot aids to share out the burden
of fir e fighters in firefighting task. Our project aims to build a real time
firefighti ng robot which moves in a constant speed, identify the fire
and then extin guish it with the help of pumping mechanism. The
detection and extingui shing was done with the help basic hardware
components attached with t he robot. Firstly, IR Flame sensors are
used for the detection of fire. Sec ondly, Motors and Rubber wheels
are used to navigate the robot to reach the fireplace. Finally, the
robot extinguishes the fire with the help of water pump and servo
motors.

6.5 Reference
 https://quartzcomponents.com/blogs/electronics-projects/fire-
fightin g-robot-using-arduino

 https://www.instructables.com/Fire-Fighting-Robot-Using-
Arduino/

 https://circuitdigest.com/microcontroller-projects/diy-fire-
fighting-ro bot-using-arduino

 https://youtu.be/x4UHRioC_Tttps://youtu.be/x4UHRioC_T8

 https://youtu.be/3BEU99yUclQ

 https://www.youtube.com/watch?v=nMdZ2xcrKRk

 https://youtu.be/Qq7t6Jqh9fs?si=DWZpkCEpQg-ysOnj